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Removing ament_target_dependencies (#1424)

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* Removing ament_target_dependencies

* always update ros

* fixing rtabmap_costmap_plugins

* rtabmap rviz plugins Qt5

* fixing qt5 private, nav2 costmap 2d layers

* backward compatibility humble

* backward comaptibility pre lyrical

* fixing rolling build

* should work on rolling now

* fixed odom

* auto cancel previous jobs
This commit is contained in:
matlabbe
2026-05-06 22:56:41 -07:00
committed by GitHub
parent 8871f934b5
commit d9cd332c53
15 changed files with 305 additions and 101 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_slam/CMakeLists.txt
+47 -4
View File
@@ -54,6 +54,22 @@ include_directories(
# libraries
SET(Libraries
cv_bridge::cv_bridge
geometry_msgs::geometry_msgs
nav_msgs::nav_msgs
rclcpp::rclcpp
rclcpp_components::component
sensor_msgs::sensor_msgs
std_msgs::std_msgs
std_srvs::std_srvs
tf2::tf2
tf2_ros::tf2_ros
visualization_msgs::visualization_msgs
rtabmap_msgs::rtabmap_msgs
rtabmap_util::rtabmap_util
rtabmap_sync::rtabmap_sync
)
SET(AmentLibraries
cv_bridge
geometry_msgs
nav_msgs
@@ -88,6 +104,10 @@ MESSAGE(STATUS "WITH apriltag_msgs")
ADD_DEFINITIONS("-DWITH_APRILTAG_MSGS")
SET(Libraries
${Libraries}
apriltag_msgs::apriltag_msgs
)
SET(AmentLibraries
${AmentLibraries}
apriltag_msgs
)
ENDIF(apriltag_msgs_FOUND)
@@ -98,6 +118,10 @@ MESSAGE(STATUS "WITH aruco_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_MSGS")
SET(Libraries
${Libraries}
aruco_msgs::aruco_msgs
)
SET(AmentLibraries
${AmentLibraries}
aruco_msgs
)
ENDIF(aruco_msgs_FOUND)
@@ -108,6 +132,10 @@ MESSAGE(STATUS "WITH aruco_opencv_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_OPENCV_MSGS")
SET(Libraries
${Libraries}
aruco_opencv_msgs::aruco_opencv_msgs
)
SET(AmentLibraries
${AmentLibraries}
aruco_opencv_msgs
)
ENDIF(aruco_opencv_msgs_FOUND)
@@ -118,6 +146,10 @@ MESSAGE(STATUS "WITH aruco_markers_msgs")
ADD_DEFINITIONS("-DWITH_ARUCO_MARKERS_MSGS")
SET(Libraries
${Libraries}
aruco_markers_msgs::aruco_markers_msgs
)
SET(AmentLibraries
${AmentLibraries}
aruco_markers_msgs
)
ENDIF(aruco_markers_msgs_FOUND)
@@ -128,6 +160,10 @@ MESSAGE(STATUS "WITH ros2_aruco_interfaces")
ADD_DEFINITIONS("-DWITH_ROS2_ARUCO_INTERFACES")
SET(Libraries
${Libraries}
ros2_aruco_interfaces::ros2_aruco_interfaces
)
SET(AmentLibraries
${AmentLibraries}
ros2_aruco_interfaces
)
ENDIF(ros2_aruco_interfaces_FOUND)
@@ -138,6 +174,10 @@ MESSAGE(STATUS "WITH nav2_msgs")
ADD_DEFINITIONS("-DWITH_NAV2_MSGS")
SET(Libraries
${Libraries}
nav2_msgs::nav2_msgs
)
SET(AmentLibraries
${AmentLibraries}
nav2_msgs
)
IF(${nav2_msgs_VERSION_MAJOR} EQUAL 0)
@@ -157,20 +197,23 @@ target_include_directories(rtabmap_slam_plugins
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(rtabmap_slam_plugins ${Libraries})
if("$ENV{ROS_DISTRO}" STRLESS "lyrical")
ament_target_dependencies(rtabmap_slam_plugins ${AmentLibraries})
else()
target_link_libraries(rtabmap_slam_plugins PUBLIC ${Libraries})
endif()
rclcpp_components_register_nodes(rtabmap_slam_plugins "rtabmap_slam::CoreWrapper")
add_executable(rtabmap_node src/CoreNode.cpp)
ament_target_dependencies(rtabmap_node ${Libraries})
target_link_libraries(rtabmap_node rtabmap_slam_plugins)
target_link_libraries(rtabmap_node PRIVATE rtabmap_slam_plugins)
set_target_properties(rtabmap_node PROPERTIES OUTPUT_NAME "rtabmap")
#############
## Install ##
#############
ament_export_dependencies(${Libraries})
ament_export_dependencies(${AmentLibraries})
ament_export_include_directories(include)
ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
ament_export_libraries(rtabmap_slam_plugins) # To include downstream without targets